An agv vehicle for rail-bound transportation

Abstract

The utility model discloses a kind of AGV vehicles for rail transit equipment, it is related to automatic guided vehicle technical field, including main body frame, the top end of main body frame is movably connected with bearing platform, one end outer wall of main body frame is equipped with navigation positioning system, the top surface of main body frame is carried with vehicle-mounted controller, the inner cavity center of main body frame is fixedly installed with two groups of driving assembly symmetrically, the inner cavity two ends of main body frame are fixedly installed with two groups of auxiliary assembly, driving assembly is AGV vehicle provides advancing power and buffers road impact, power motor output power is transmitted to driving wheel by rotating shaft using power, ensure heavy load travel stability, driving wheel is connected with main body frame by spring shock absorber, form shock-absorbing support structure, can absorb the vibration energy generated by concave-convex ground, disperse impact force, keep driving wheel and ground sustained contact, avoid AGV vehicle appear jolt, jam, improve the power output stability and operation reliability of vehicle under complex road conditions.

Description

Technical Field

[0001] This utility model relates to the field of automated guided vehicle technology, specifically an AGV vehicle used in rail transit equipment. Background Technology

[0002] AGV vehicles in rail transit equipment are automated guided vehicles that can navigate autonomously and transport heavy components such as train bodies and bogies. They effectively improve the efficiency and automation level of material handling in the rail transit sector, reduce labor costs, and promote the intelligent and efficient development of rail transit transportation.

[0003] AGV transport vehicles have heavy load capacity and are mostly used in manufacturing workshops, maintenance bases and parts warehouses. They mainly use laser or magnetic navigation systems to preset routes, accurately locate and drive autonomously to achieve heavy load transportation. They can also communicate and coordinate with workshop scheduling systems, cranes, production lines and other equipment. During operation, they can accurately receive task instructions, autonomously plan routes, efficiently transfer parts to designated workstations, complete loading and unloading docking, and improve overall production and maintenance efficiency. However, some workshop floors may have slight unevenness, rail joints, or temporarily laid cables, which can easily cause AGV vehicles to bump, get stuck, or even damage the ground or their own parts. This not only reduces transportation stability but may also cause uneven force on the AGV wheels, posing a risk of brief jamming or even tipping over, thus affecting normal operation.

[0004] Therefore, this utility model provides an AGV vehicle for rail transit equipment to solve the problems mentioned above. Utility Model Content

[0005] The purpose of this invention is to provide an AGV vehicle for rail transit equipment to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: An AGV vehicle for rail transit equipment includes a main frame, a carrying platform for supporting and transporting goods is movably connected to the top of the main frame, a navigation and positioning system is provided on the outer wall of one end of the main frame, and the navigation and positioning system can achieve precise positioning, and an on-board controller is mounted on the top surface of the main frame, and the on-board controller has a path planning algorithm module, which can autonomously plan the driving route according to the task instructions. Two sets of drive components are symmetrically fixed at the center of the inner cavity of the main frame, which are used to buffer the vibration and impact generated by uneven ground. Two sets of auxiliary components are fixedly installed at both ends of the inner cavity of the main frame, which are used to prevent the vehicle from overturning due to uneven force. Through the coordinated operation of the drive components and auxiliary components, the vehicle can still achieve stable transportation under complex working conditions.

[0007] As a further embodiment of this utility model, the drive assembly includes a connecting plate, which is fixedly installed inside the main frame. A power motor for providing continuous power is fixedly connected to the outer wall of the connecting plate. A rotating shaft is fixedly connected to the output end of the power motor. The end of the rotating shaft away from the power motor passes through the connecting plate and is connected to a drive wheel.

[0008] As a further embodiment of this utility model, a connecting plate is fixedly connected to the end of the rotating shaft away from the power motor. The outer wall of the connecting plate is rotatably connected to three spring shock absorbers for shock absorption and buffering via pins. Each spring shock absorber is connected to the drive wheel to form a triangular shock absorption support structure.

[0009] As a further embodiment of this utility model, the auxiliary component includes a connector, which is fixedly installed on the bottom surface of the main frame by bolts. Supports are symmetrically installed on both sides of the connector. A flipping frame is rotatably connected to one side of the support by a pin. Shock-absorbing wheels are rotatably connected to the bottom ends of the support and the flipping frame by pins, forming a double-wheel support structure.

[0010] As a further embodiment of this utility model, both sides of the outer wall of the connector are fixedly connected to a fixed shaft, and the bracket is rotatably sleeved on the outer wall of the fixed shaft through a bearing. A spring damper is hinged between the bracket and the flipping frame through a pin, forming an elastic support unit that can absorb vibration and impact from different directions.

[0011] As a further embodiment of this utility model, a hydraulic cylinder for moving the bearing platform up and down is fixedly installed in the inner cavity of the main frame, and the hydraulic cylinder is fixedly connected to the bottom surface of the bearing platform. A folding outer cover plate is fixedly installed on the bottom surface of the bearing platform.

[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. When this utility model is used, the drive component provides the AGV vehicle with the driving power and buffers the impact of the road surface. The power output of the power motor is transmitted to the drive wheel through the shaft to ensure the stability of heavy-load driving. The drive wheel is connected to the main frame through the spring shock absorber to form a shock-absorbing support structure, which can absorb the vibration energy generated by uneven ground, disperse the impact force, keep the drive wheel in continuous contact with the ground, avoid the AGV vehicle from bumping or getting stuck, and improve the power output stability and operational reliability of the vehicle under complex road conditions.

[0013] 2. When this utility model is used, the auxiliary components effectively enhance the vehicle's driving stability and prevent rollover. The double-wheel support structure is rotatably connected to the bracket and the tilting frame, and is combined with the spring damper to form an elastic support unit. It can swing flexibly with the undulation of the ground. When the vehicle is subjected to uneven force, the shock-absorbing wheel transmits the force, causing the bracket and the tilting frame to swing. The spring damper stretches and deforms to absorb multi-directional impact energy, effectively balancing the vehicle's posture and improving the equipment's anti-rollover ability and smoothness of movement under complex working conditions. Attached Figure Description

[0014] Figure 1 This is a structural schematic diagram of an AGV vehicle used in rail transit equipment.

[0015] Figure 2 This is a structural cross-sectional view of an AGV vehicle used in rail transit equipment.

[0016] Figure 3 This is a schematic diagram of the structure of a hydraulic cylinder in an AGV vehicle used in rail transit equipment.

[0017] Figure 4 This is a schematic diagram of the drive assembly in an AGV vehicle used in rail transit equipment.

[0018] Figure 5 This is a schematic diagram of the structure of an auxiliary component in an AGV vehicle used in rail transit equipment.

[0019] Figure 6 This is a structural exploded view of an auxiliary component in an AGV vehicle used in rail transit equipment.

[0020] In the diagram: 1. Main frame; 2. Support platform; 3. Navigation and positioning system; 4. Vehicle controller; 5. Drive assembly; 501. Connecting plate; 502. Power motor; 503. Rotating shaft; 504. Drive wheel; 505. Wheel hub; 506. Anti-slip strip; 507. Connecting disc; 508. Spring shock absorber; 509. Connecting block; 6. Auxiliary components; 601. Connector; 602. Bracket; 603. Tilting frame; 604. Shock-absorbing wheel; 605. Fixed shaft; 606. Spring damper; 607. Bushing; 7. Audible and visual alarm device; 8. Anti-collision strip; 9. Hydraulic cylinder; 10. Folding outer cover. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Please see Figure 1 , Figure 2 , Figure 3 In this embodiment of the present invention, an AGV vehicle for rail transit equipment includes a main frame 1, a carrying platform 2 for supporting and transporting goods is movably connected to the top of the main frame 1, a navigation and positioning system 3 is provided on the outer wall of one end of the main frame 1, and the navigation and positioning system 3 can achieve precise positioning, and an on-board controller 4 is mounted on the top surface of the main frame 1, and the on-board controller 4 has a path planning algorithm module, which can autonomously plan the driving route according to the task instructions. Two sets of drive components 5 are symmetrically fixed at the center of the inner cavity of the main frame 1, and they are used to buffer the vibration and impact generated by uneven ground. Two sets of auxiliary components 6 are fixedly installed at both ends of the inner cavity of the main frame 1, and they are used to prevent the vehicle from overturning due to uneven force. Through the coordinated operation of drive components 5 and auxiliary components 6, the vehicle can still achieve stable transportation under complex working conditions. It should be noted that the navigation and positioning system 3 integrates LiDAR and magnetic sensors. The LiDAR scans the environment to generate a map, and magnetic navigation determines the path by identifying ground magnetic strips or nails. It also combines visual sensors to assist in positioning. A battery pack is fixedly installed inside the main frame 1 to support the vehicle's long-term heavy-load operation. At the same time, an audible and visual alarm device 7 is fixedly installed on the upper surface of the main frame 1 to ensure human-machine collaborative safety. Anti-collision strips 8 are fixedly installed on the outer walls of both ends of the main frame 1. The anti-collision strips 8 absorb impact energy and buffer collision force through their own elastic deformation to prevent the main frame 1 from being damaged by rigid collisions.

[0023] Please see Figure 2 , Figure 4 The drive assembly 5 includes a connecting plate 501, which is fixedly installed inside the main frame 1. A power motor 502 for providing continuous power is fixedly connected to the outer wall of the connecting plate 501. A rotating shaft 503 is fixedly connected to the output end of the power motor 502. One end of the rotating shaft 503 away from the power motor 502 passes through the connecting plate 501 and is connected to a drive wheel 504. It should be noted that the power motor 502 can ensure the driving stability of the vehicle under heavy load, and its bottom surface is fixedly connected to the mounting bracket, which is fixedly connected to the connecting plate 501 to support and fix the power motor 502, ensuring that the power motor 502 remains stable when running at high speed and avoiding displacement or loosening due to vibration. At the same time, the rotating shaft 503 is rotatably connected to the connecting plate 501 through the bearing. It should also be noted that the inner wall of the drive wheel 504 is fixedly connected to the hub 505 to improve the strength of the wheel structure, and the outer wall of the drive wheel 504 is provided with anti-slip strips 506, which effectively increases the friction with the ground. Even in complex ground environments such as wet and oily conditions, it can prevent slippage, ensure the grip and maneuverability of the AGV vehicle when it is under heavy load, and improve the safety and reliability of the vehicle operation. A connecting plate 507 is fixedly connected to the end of the rotating shaft 503 away from the power motor 502. Three spring shock absorbers 508 for shock absorption and buffering are rotatably connected to the outer wall of the connecting plate 507 through a pin. Each spring shock absorber 508 is connected to the drive wheel 504 to form a triangular shock absorption support structure. When the AGV vehicle travels on uneven ground, the impact force is transmitted to the spring damper 508 through the drive wheel 504, causing the spring damper 508 to be compressed. The three spring dampers 508 work together to absorb and disperse vibration energy through elastic deformation. At the same time, the stability of the triangular structure is used to maintain the continuous contact between the drive wheel 504 and the ground, effectively buffering the bumps caused by uneven ground, and ensuring that the drive wheel 504 can still output power stably under complex road conditions, thereby improving the stability and reliability of the AGV vehicle when running under heavy load. It should be noted that the three spring shock absorbers 508 are installed at an angle, which, compared to vertical installation, can improve the stability and shock absorption of the AGV vehicle, effectively decompose the combined impact force in the lateral and vertical directions, avoid the concentration of force in one direction, adapt to the undulation of the ground, ensure that the pressure between the drive wheel 504 and the ground is uniform, improve the efficiency of driving force transmission, and at the same time buffer vibration in multiple directions, reduce the impact of uneven ground on the bearing platform 2 in all aspects, and ensure the stability of cargo transportation and the service life of components. It should also be noted that three connecting blocks 509 are welded to the inner wall of the hub 505 in a circumferentially evenly distributed manner. The end of each spring shock absorber 508 away from the connecting plate 507 is hinged to the corresponding connecting block 509 through a pin. The three connecting blocks 509 form a balanced force support point, which can evenly distribute the vibration load to the entire hub 505, avoid local stress concentration, and enhance the synergy between the shock absorption system and the wheel body.

[0024] Please see Figure 2 , Figure 5 , Figure 6The auxiliary component 6 includes a connector 601, which is fixedly installed on the bottom surface of the main frame 1 by bolts. A bracket 602 is symmetrically installed on both sides of the connector 601. A tilting frame 603 is rotatably connected to one side of the bracket 602 by a pin. The bottom ends of the bracket 602 and the tilting frame 603 are rotatably connected to a shock-absorbing wheel 604 by a pin, forming a double-wheel support structure. Both sides of the outer wall of the connector 601 are fixedly connected to the fixed shaft 605, and the bracket 602 is rotatably sleeved on the outer wall of the fixed shaft 605 through the bearing. The bracket 602 and the flipping frame 603 are hinged by the pin and a spring buffer 606 to form an elastic support unit that can absorb vibration and impact from different directions. It should be noted that the connector 601 serves as the overall support base, and the bracket 602, with the fixed shaft 605 as the pivot point, can swing at multiple angles. Together with the tilting frame 603 and the spring buffer 606, it effectively improves the load-bearing capacity and smoothness of the overall structure, effectively prevents the AGV vehicle from tipping over due to uneven ground or uneven force, and enhances the stability of equipment operation. Both the bracket 602 and the tilting frame 603 are designed as V-shaped frames, and both have bushings 607 fixedly installed inside by bolts to optimize connection stability and reduce component wear. When the ground is uneven or the force is uneven, the shock-absorbing wheel 604 contacts the ground and transmits the force, pushing the support 602 to rotate around the fixed axis 605. At the same time, it drives the tilting frame 603 to swing synchronously. The relative movement of the support 602 and the tilting frame 603 causes the spring buffer 606 to expand and contract, absorbing vibration energy and buffering impact. Through the synergy of double wheel support and elastic buffer, the equipment can operate stably under complex road conditions.

[0025] Please see Figure 3 The inner cavity of the main frame 1 is fixedly installed with a hydraulic cylinder 9 for driving the bearing platform 2 to move up and down, and the hydraulic cylinder 9 is fixedly connected to the bottom surface of the bearing platform 2. The bottom surface of the bearing platform 2 is fixedly installed with a folding outer cover plate 10. It should be noted that the hydraulic cylinder 9 provides stable power for the lifting and lowering of the bearing platform 2, enabling its height adjustment to adapt to different operating needs. The folding outer cover 10 extends and retracts synchronously with the lifting and lowering of the bearing platform 2, which can cover the internal mechanical structure, play a role in preventing dust and foreign objects from entering and protecting the equipment, while also optimizing the overall appearance.

[0026] The working principle of this utility model is as follows: When this utility model is in use, after the AGV vehicle starts, the laser radar in the navigation and positioning system 3 begins to scan the environment to generate a map, the magnetic sensor identifies the magnetic strips or nails on the ground, and with the assistance of the vision sensor, accurately determines the vehicle's position and path, and transmits the information to the vehicle controller 4. The vehicle controller 4 plans the driving route according to the task instructions using the path planning algorithm module and sends instructions to the drive component 5. Subsequently, the power motor 502 is started, which drives the drive wheel 504 to rotate through the shaft 503, providing forward power to the vehicle. When the vehicle is driving on uneven ground, the impact force of the ground is transmitted to the spring shock absorber 508 through the drive wheel 504. The three spring shock absorbers 508 are installed at an angle to form a triangular shock absorption support structure, which absorbs and disperses the vibration energy through elastic deformation, keeps the drive wheel 504 in contact with the ground, and ensures stable power output. Meanwhile, during the journey, if the ground is uneven or the force is uneven, the shock absorber 604 will contact the ground to transmit the force, which will push the bracket 602 to rotate around the fixed shaft 605, causing the tilting frame 603 to swing. The spring buffer 606 will expand and contract to absorb the vibration energy. The combination of double wheel support and elastic buffer will prevent the vehicle from overturning and enhance the stability of operation. Finally, when the height of the carrying platform 2 needs to be adjusted, the hydraulic cylinder 9 works to provide power for the lifting and lowering of the carrying platform 2, so as to realize the height adjustment to adapt to different operating needs. At the same time, when the vehicle is running, the audible and visual alarm device 7 monitors in real time to ensure human-machine collaborative safety. Combined with the anti-collision strip 8, it absorbs the impact energy and buffers the collision force through its own elastic deformation when a collision occurs.

[0027] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An AGV vehicle for rail transit equipment, comprising a main frame (1), characterized in that, The top of the main frame (1) is movably connected to a carrying platform (2) for supporting and transporting goods. One end of the outer wall of the main frame (1) is provided with a navigation and positioning system (3), and accurate positioning can be achieved through the navigation and positioning system (3). The top surface of the main frame (1) is equipped with a vehicle controller (4), and the vehicle controller (4) has a path planning algorithm module, which can autonomously plan the driving route according to the task instructions. Two sets of drive components (5) are symmetrically fixed at the center of the inner cavity of the main frame (1), and the two sets of drive components (5) are used to buffer the vibration and impact generated by the uneven ground. Two sets of auxiliary components (6) are fixedly installed at both ends of the inner cavity of the main frame (1). The auxiliary component (6) includes a connector (601), which is fixedly installed on the bottom surface of the main frame (1) by bolts. A bracket (602) is symmetrically installed on both sides of the connector (601). A flipping frame (603) is rotatably connected to one side of the bracket (602) by a pin. The bottom ends of the bracket (602) and the flipping frame (603) are rotatably connected to a shock-absorbing wheel (604) by a pin, forming a double-wheel support structure. The outer walls of the connector (601) are fixedly connected to both sides of the fixed shaft (605), and the bracket (602) is rotatably sleeved on the outer wall of the fixed shaft (605) through the bearing. The bracket (602) and the flipping frame (603) are hinged together by a spring buffer (606) through a pin to form an elastic support unit that can absorb vibration and impact from different directions.

2. The AGV vehicle for rail transit equipment according to claim 1, characterized in that, The drive assembly (5) includes a connecting plate (501), which is fixedly installed inside the main frame (1). A power motor (502) for providing continuous power is fixedly connected to the outer wall of the connecting plate (501). A rotating shaft (503) is fixedly connected to the output end of the power motor (502). One end of the rotating shaft (503) away from the power motor (502) passes through the connecting plate (501) and is connected to a drive wheel (504).

3. An AGV vehicle for rail transit equipment according to claim 2, characterized in that, The end of the rotating shaft (503) away from the power motor (502) is fixedly connected to a connecting plate (507). The outer wall of the connecting plate (507) is rotatably connected to three spring shock absorbers (508) for shock absorption and buffering through a pin shaft. Each spring shock absorber (508) is connected to the drive wheel (504) to form a triangular shock absorption support structure.

4. An AGV vehicle for rail transit equipment according to claim 1, characterized in that, The inner cavity of the main frame (1) is fixedly installed with a hydraulic cylinder (9) for driving the bearing platform (2) to move up and down, and the hydraulic cylinder (9) is fixedly connected to the bottom surface of the bearing platform (2). The bottom surface of the bearing platform (2) is fixedly installed with a folding outer cover plate (10).

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